Underwater assemblies with flooded actuators and methods for using same

Abstract

An underwater assembly includes: a hull having an internal cavity that is in fluid communication with the external environment; an inductive actuator mounted within the cavity of the hull; a current source mounted in the hull and electrically connected to the actuator; and a movable member connected with the actuator and positioned external of the hull. Provision of current to the actuator causes the movable member to move relative to the hull.

That which is claimed is: 
     
         1 . An underwater assembly, comprising:
 a hull having an internal cavity that is in fluid communication with the external environment;   an inductive actuator mounted within the cavity of the hull;   a current source mounted in the hull and electrically connected to the actuator; and   a movable member connected with the actuator and positioned external of the hull;   wherein the provision of current to the actuator causes the movable member to move relative to the hull.   
     
     
         2 . The assembly defined in  claim 1 , further comprising a controller associated with the power source that controls the position of the movable member. 
     
     
         3 . The assembly defined in  claim 2 , wherein the controller detects the position of the movable member. 
     
     
         4 . The assembly defined in  claim 2 , wherein the controller detects an external force exerted on the movable member. 
     
     
         5 . The assembly defined in  claim 2 , wherein the assembly is a vehicle, and wherein the controller detects a compass heading. 
     
     
         6 . The assembly defined in  claim 1 , wherein the movable member is selected from the group consisting of: a fin, a propeller, a grasping clamp, an articulated arm, and a valve cover. 
     
     
         7 . The assembly defined in  claim 1 , wherein the actuator is coated with a water-resistant coating. 
     
     
         8 . The assembly defined in  claim 1 , wherein the actuator includes a stator and a magnetic rotor pivotally connected to the stator. 
     
     
         9 . The assembly defined in  claim 8 , wherein the stator is electrically connected to the current source. 
     
     
         10 . The assembly defined in  claim 1 , wherein the assembly is an underwater vehicle. 
     
     
         11 . The assembly defined in  claim 10 , wherein the controller is configured to receive navigational instructions. 
     
     
         12 . A method of controlling the orientation of a movable member on an underwater assembly, comprising:
 (a) providing an underwater assembly, comprising:
 a hull having an internal cavity that is in fluid communication with the external environment; 
 an inductive actuator mounted within the cavity of the hull; 
 a current source mounted in the hull and electrically connected to the actuator; and 
 a movable member connected with the actuator and positioned external of the hull; 
   (b) receiving instructions at a controller, the instructions providing information associated with the position of a movable member;   (c) generating current in the actuator with the current source, wherein the magnitude of the current generated is determined by the instructions received at the controller, the current generated in the actuator causing the movable member to take a predetermined position relative to the hull.   
     
     
         13 . The method defined in  claim 12 , wherein the controller detects the position of the movable member. 
     
     
         14 . The method defined in  claim 12 , wherein the controller detects an external force exerted on the movable member. 
     
     
         15 . The method defined in  claim 12 , wherein the assembly is a vehicle, and wherein the controller detects a compass heading. 
     
     
         16 . The method defined in  claim 12 , wherein the movable member is selected from the group consisting of: a fin, a propeller, a grasping clamp, an articulated arm, and a valve cover. 
     
     
         17 . The method defined in  claim 12 , wherein the actuator is coated with a water-resistant coating. 
     
     
         18 . The method defined in  claim 12 , wherein the actuator includes a stator and a magnetic rotor pivotally connected to the stator. 
     
     
         19 . The method defined in  claim 18 , wherein the stator is electrically connected to the current source. 
     
     
         20 . The method defined in  claim 12 , wherein the assembly is an underwater vehicle. 
     
     
         21 . The method defined in  claim 12 , wherein the controller is configured to receive navigational instructions. 
     
     
         22 . The method defined in  claim 12 , wherein the instructions are pre-programmed. 
     
     
         23 . The method defined in  claim 12 , wherein the instructions are received from an external source. 
     
     
         24 . An underwater vehicle, comprising:
 a hull having an internal cavity that is in fluid communication with the external environment;   an inductive actuator mounted within the cavity of the hull;   a current source mounted in the hull and electrically connected to the actuator;   a movable member connected with the actuator and positioned external of the hull; and   a propeller mounted to the hull and configured to propel the vehicle;   wherein the provision of current to the actuator causes the movable member to move relative to the hull.   
     
     
         25 . The vehicle defined in  claim 24 , wherein the propeller and the movable member are distinct structures.